Odin: Team VictorTango's entry in the DARPA Urban Challenge

被引：196

作者：

Bacha, Andrew ^{[1
]}

Bauman, Cheryl ^{[1
]}

Faruque, Ruel ^{[1
]}

Fleming, Michael ^{[1
]}

Terwelp, Chris ^{[1
]}

Reinholtz, Charles ^{[2
]}

Hong, Dennis ^{[3
]}

Wicks, Al ^{[3
]}

Alberi, Thomas ^{[4
]}

Anderson, David ^{[4
]}

Cacciola, Stephen ^{[4
]}

Currier, Patrick ^{[4
]}

Dalton, Aaron ^{[4
]}

Farmer, Jesse ^{[4
]}

Hurdus, Jesse ^{[4
]}

Kimmel, Shawn ^{[4
]}

King, Peter ^{[4
]}

Taylor, Andrew ^{[4
]}

Van Covern, David ^{[4
]}

Webster, Mike ^{[4
]}

机构：

[1] TORC Technol LLC, Blacksburg, VA 24060 USA

[2] Embry Riddle Aeronaut Univ, Dept Mech Engn, Daytona Beach, FL 32114 USA

[3] Virginia Polytech Inst & State Univ, Dept Mech Engn, Blacksburg, VA 24060 USA

[4] Virginia Polytech Inst & State Univ, Unmanned Syst Grp, Blacksburg, VA 24060 USA

来源：

JOURNAL OF FIELD ROBOTICS | 2008年 / 25卷 / 08期

关键词：

D O I：

10.1002/rob.20248

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The DARPA Urban Challenge required robotic vehicles to travel more than 90 km through an urban environment without human intervention and included situations such as stop intersections, traffic merges, parking, and roadblocks. Team VictorTango separated the problem into three parts: base vehicle, perception, and planning. A Ford Escape outfitted with a custom drive-by-wire system and computers formed the basis for Odin. Perception used laser scanners, global positioning system, and a priori knowledge to identify obstacles, cars, and roads. Planning relied on a hybrid deliberative/reactive architecture to analyze the situation, select the appropriate behavior, and plan a safe path. All vehicle modules communicated using the JAUS (joint Architecture for Unmanned Systems) standard. The performance of these components in the Urban Challenge is discussed and successes noted. The result of VictorTango's work was successful completion of the Urban Challenge and a third-place finish. (C) 2008 Wiley Periodicals, Inc.

引用

页码：467 / 492

页数：26

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